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WO2009073127A3 - Payload system that compensates for rotational forces - Google Patents

Payload system that compensates for rotational forces Download PDF

Info

Publication number
WO2009073127A3
WO2009073127A3 PCT/US2008/013135 US2008013135W WO2009073127A3 WO 2009073127 A3 WO2009073127 A3 WO 2009073127A3 US 2008013135 W US2008013135 W US 2008013135W WO 2009073127 A3 WO2009073127 A3 WO 2009073127A3
Authority
WO
WIPO (PCT)
Prior art keywords
work implement
payload
compensates
rotational forces
calculation system
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2008/013135
Other languages
French (fr)
Other versions
WO2009073127A2 (en
Inventor
Vijay Janardhan
Jeffrey Kent Berry
Brian Mintah
Everett Gene Brandt
Robert J. Price
Kevin Dwight King
Shoji Toza Wa
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Caterpillar Inc
Original Assignee
Caterpillar Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Caterpillar Inc filed Critical Caterpillar Inc
Priority to JP2010536002A priority Critical patent/JP5277252B2/en
Priority to DE112008003243T priority patent/DE112008003243T5/en
Priority to CN2008801181647A priority patent/CN101999069B/en
Publication of WO2009073127A2 publication Critical patent/WO2009073127A2/en
Publication of WO2009073127A3 publication Critical patent/WO2009073127A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1638—Programme controls characterised by the control loop compensation for arm bending/inertia, pay load weight/inertia
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01G—WEIGHING
    • G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
    • G01G19/02—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles
    • G01G19/021—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for weighing wheeled or rolling bodies, e.g. vehicles having electrical weight-sensitive devices
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45012—Excavator

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)
  • Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
  • Testing Of Balance (AREA)

Abstract

The present disclosure is directed to a payload calculation system (42) for use with a work implement (18). The payload calculation system may have a state sensor (44) configured to measure a state of the work implement. The payload calculation system may further have a processing device (48) configured to calculate a mass of a payload moved by the work implement. The processing device may be configured to use the measured state to compensate the calculation of the mass for centrifugal, inertial, and frictional forces of the work implement caused by the work implement rotating about a vertical pivot (19).
PCT/US2008/013135 2007-11-30 2008-11-25 Payload system that compensates for rotational forces Ceased WO2009073127A2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2010536002A JP5277252B2 (en) 2007-11-30 2008-11-25 Load mass system to compensate for rotational force
DE112008003243T DE112008003243T5 (en) 2007-11-30 2008-11-25 Payload system with compensation of rotational forces
CN2008801181647A CN101999069B (en) 2007-11-30 2008-11-25 Payload system that compensates for rotational forces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/998,425 US7912612B2 (en) 2007-11-30 2007-11-30 Payload system that compensates for rotational forces
US11/998,425 2007-11-30

Publications (2)

Publication Number Publication Date
WO2009073127A2 WO2009073127A2 (en) 2009-06-11
WO2009073127A3 true WO2009073127A3 (en) 2009-11-12

Family

ID=40674307

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2008/013135 Ceased WO2009073127A2 (en) 2007-11-30 2008-11-25 Payload system that compensates for rotational forces

Country Status (5)

Country Link
US (1) US7912612B2 (en)
JP (1) JP5277252B2 (en)
CN (1) CN101999069B (en)
DE (1) DE112008003243T5 (en)
WO (1) WO2009073127A2 (en)

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JP7242387B2 (en) * 2019-03-29 2023-03-20 住友重機械工業株式会社 Excavator
JP7326066B2 (en) * 2019-08-21 2023-08-15 住友重機械工業株式会社 Excavator
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US11226225B2 (en) * 2019-10-23 2022-01-18 Deere & Company Work vehicle, method of determining weight of payload, and method of calibrating a weight of a payload
US11131083B2 (en) * 2019-10-31 2021-09-28 Deere & Company Vehicle stability warning system
JP7455568B2 (en) * 2019-12-16 2024-03-26 株式会社小松製作所 Working machines, measuring methods and systems
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Also Published As

Publication number Publication date
US7912612B2 (en) 2011-03-22
US20090139119A1 (en) 2009-06-04
CN101999069A (en) 2011-03-30
JP2011508187A (en) 2011-03-10
DE112008003243T5 (en) 2010-10-14
JP5277252B2 (en) 2013-08-28
CN101999069B (en) 2013-05-01
WO2009073127A2 (en) 2009-06-11

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